path and codegen

Readme.md

@@ -124,7 +124,8 @@ pw: ValToira_2021
 ```
 zamofing_t@ganymede:~$ ssh gac-cristall@saresc-cons-03
 cd /sf/cristallina/applications/mx/zamofing_t/ESB_MX/python/SwissMX/
-conda activate /sf/cristallina/applications/conda/envs/crmx38
+# conda env list
+conda activate crmx38
 python swissmx.py 
 
 

pyqtUsrObj.py

@@ -301,19 +301,32 @@ class Path(UsrROI):
   a circle is plot at the path positions
   a cross is plot at the fiducial positions
   '''
-  def __init__( self, pos=(0,0), path=np.array(((6,4),(16,24),(-5,7),(3,12))), fiducial=None, ficucialScale=5, **kargs):
+  def __init__( self, pos=(0,0), path=np.array(((6,4),(16,24),(-5,7),(3,12))), fiducial=None, ficucialScale=5, **kwargs):
+    trf=kwargs.pop('trf',None)
+    if type(path)==list:
+      path=np.array(path)
     if fiducial is None:
       all=path
     else:
+      if type(fiducial)==list:
+        fiducial=np.array(fiducial)
       all=np.vstack((fiducial,path))
     mn=all.min(0)
     mx=all.max(0)
-    sz=mx-mn
+    size=self.szOrig=mx-mn
-    pg.ROI.__init__(self, pos, sz, **kargs)
+
+    pg.ROI.__init__(self, pos, size, **kwargs)
+    if trf is not None:
+      t=self.transform()
+      t.setMatrix(trf[0][0], trf[0][1], 0,
+                   trf[1][0], trf[1][1], 0,
+                           0,         0, 1)
+      self.setTransform(t)
+
     self._fiducial=fiducial
     self._path=path
     self._fidScl=ficucialScale
-    self._rect=r=QtCore.QRectF(mn[0], mn[1], sz[0], sz[1])
+    self._rect=r=QtCore.QRectF(mn[0]-5*ficucialScale, mn[1]-5*ficucialScale, size[0]+10*ficucialScale, size[1]+10*ficucialScale)
     self._qpath=qPth=QPolygonF()
     for pt in path:
       qPth.append(QPointF(*pt))
@@ -331,8 +344,8 @@ class Path(UsrROI):
     p.setRenderHint(QtGui.QPainter.Antialiasing)
     p.setPen(self.currentPen)
     #p.drawEllipse(0, 0, int(sz[0]), int(sz[1]))
-    p.drawRect(0, 0, int(sz[0]), int(sz[1]))
+    #p.drawRect(0, 0, int(sz[0]), int(sz[1]))
-
+    p.drawRect(QtCore.QRectF(0, 0, sz[0], sz[1]).normalized())
     #obj_info(p)
     p.scale(sz[0]/r.width(), sz[1]/r.height())
     p.translate(-r.left(), -r.top())
@@ -362,10 +375,18 @@ class Path(UsrROI):
     jsn= {
       '__class__':self.__class__.__name__,
       'pos':tuple(self.pos()),
-      'fiducial': repr(self._fiducial),
+      'fiducial': self._fiducial.tolist(),
-      'path': repr(self._path),
+      'path': self._path.tolist(),
       'ficucialScale':self._fidScl
     }
+    so=pg.Point(self.szOrig)
+    sn=self.size()
+    trf=self.transform()
+    if not trf.isIdentity() or so!=sn:
+      scl=sn/so
+      #obj_info(trf)
+      trf=((trf.m11()*scl[0],trf.m12()*scl[0]),(trf.m21()*scl[1],trf.m22()*scl[1]))
+      jsn['trf']=trf
     return jsn
 
 class FixTargetFrame(UsrROI):
@@ -532,7 +553,7 @@ class FixTargetFrame(UsrROI):
 
     pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose() #*pitch
 
-    param={'grid':grid, 'points':pts}
+    param={'grid':grid, 'points':pts, 'mode':mode}
     t=self.transform()
     p=np.array(self.pos())
     s=self.size()/self._dscr['size']

swissmx.py

@@ -1443,7 +1443,9 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
         p=(np.asmatrix(m)*trf).A
 
         p[:,0]*=-1 #X axis has inverted sign !
-        param['points']=p
+        param['ptsTrf']=p # transformed points
+        param['numPts']=p.shape[0]
+        #param['points']=p
 
         # add up to 100 test fiducial
         vb=self.vb
@@ -1473,6 +1475,9 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
         #_log.debug(f'step to 2nd point:{p[1,:]-p[0,:]}')
         #print('DEBUG: difference from point to point:')
         #print(np.diff(p, axis=0))
+        #param['codeGen']=0
+        param['codeGen']=1
+        param['codeGen']=2
         self.daq_collect(**param)
 
     elif task == TASK_GRID:
@@ -1891,7 +1896,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
     mft.setAccessibleName(TASK_FIX_TARGET)
     self._tabs_daq_methods.setCurrentWidget(mft) #set this as the active tabs
 
-    mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
+    mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)", "SwissMX(<param>)", "SwissFEL(<param>)"])
     mft._btnAdd.clicked.connect(self.module_fix_target_add_obj)
     mft._btnDelAll.clicked.connect(self.module_fix_target_del_all_obj)
     mft._btnFit.clicked.connect(self.module_fix_target_fit_fiducial)
@@ -2005,8 +2010,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
     idx=mft._cbType.currentIndex()
     param=mft._txtParam.text()
 
-    #cb.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
+    #mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)", "SwissMX-path"])
-
     #bm_pos_eu=self._goBeamMarker._pos_eu
     #bm_size_eu=self._goBeamMarker._size_eu
 
@@ -2032,6 +2036,27 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
     elif idx==4:
       w,h=(30, 22)
       go=UsrGO.Grid((fx-w/2,fy-h/2), (w, h), (30, 22), .1)
+    elif idx==5:
+      ofs=(0, 0);
+      width=10;
+      fidScl=.02
+      fiducial=((-.2, -.2), (-.2, 2.4), (10.2, -.2), (10.2, 2.4))
+      if param:
+        p=json.loads('{'+param+'}')  # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
+        locals().update(p)
+      fiducial=np.array(fiducial)
+      gp=psi_device.shapepath.GenPath();
+      gp.swissmx_points(ofs=ofs, width=width, flipy=True)
+      go=UsrGO.Path((fx-width/2, fy-1.2), gp.points, fiducial, fidScl)
+    elif idx==6:
+      ofs=(0, 0); width=10; fidScl=.02
+      fiducial=((-.2, -.2), (-.2, 2.0), (10.2, -.2), (10.2, 2.0))
+      if param:
+        p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
+        locals().update(p)
+      fiducial=np.array(fiducial)
+      gp=psi_device.shapepath.GenPath();gp.swissfel_points(ofs=ofs, width=width,flipy=True)
+      go=UsrGO.Path((fx-width/2,fy-1.2), gp.points, fiducial, fidScl)
     else:
       _log.error('index not handeled')
 
@@ -2084,7 +2109,23 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
           #go.setSize((1,1))
           sz=(trf[0,0],trf[1,1])
           go.setSize(sz)
-
+          j=0
+      elif type(go)==UsrGO.Path:
+        if j==4:
+          fid=go._fiducial
+          sz=go.szOrig
+          fid=fid/sz
+          trf=geometry.geometry.least_square_trf(ptFitTrf, fid)
+          print(trf)
+          tr=go.transform()
+          tr.setMatrix(1, trf[1, 0]/trf[0, 0], 0,
+                       trf[0, 1]/trf[1, 1], 1, 0,
+                       0, 0, 1)
+          go.setTransform(tr)
+          go.setPos(trf[:, 2])
+          # go.setSize((1,1))
+          sz=(trf[0, 0], trf[1, 1])
+          go.setSize(sz)
           j=0
       elif type(go)==UsrGO.Fiducial and go.size()[0]==0.12:
         if j<ptFitTrf.shape[0]:
@@ -2103,7 +2144,16 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       raise AttributeError('canceled')
 
   def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params):
-    #def _OLD_daq_collect_points(self, points, visualizer_method, visualizer_params):
+    '''
+    kwargs:
+      codeGen: 0 pvt motion using ptsTrf
+               1 pvt motion using trf and points
+               2 pvt motion, compact grid code
+      grid:   grid dictionary with orig, pitch, count
+      trf:    transformation matrix
+      points: list of points without transformation
+      ptsTrf: list of points with transformation
+    '''
     app = QApplication.instance()
     cfg = app._cfg
     dt_misc = cfg.value(AppCfg.DT_MISC)
@@ -2121,7 +2171,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       app._jungfrau=jf=psi_device.Jungfrau()
     sp=dt._shapepath
     sp.verbose=dt_misc['verbose']
-    sp.points=kwargs['points']
+
     sp.meta['pt2pt_time']=dt_misc['pt2pt_time']
     sp.meta['sync_mode']=dt_misc['sync_mode']
     sp.meta['sync_flag']=dt_misc['sync_flag']
@@ -2133,29 +2183,42 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       #dlg.canceled.connect(self.complete_daq)
       #dlg.setAutoClose(True)
       #dlg.show()
-
       dlg.setLabelText("Setup Gather/Sync");dlg+=5
-      sp.setup_gather()
+      sp.setup_gather(kwargs['numPts'])
       sp.setup_sync(verbose=sp.verbose&0x40, timeOfs=dt_misc['time_ofs'], timeCor=dt_misc['time_cor'])
+      dlg.setLabelText("Download motion program");dlg+=5
+      codeGen=kwargs['codeGen']
+      if codeGen==0:
+        sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['ptsTrf'])
+      elif codeGen==1:
+        sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['points'])
+      elif codeGen==2:
+        sp.setup_motion(fnPrg=fn+'.prg', mode=4, scale=1., dwell=10, grid=kwargs['grid'])
       try:
         p=geo._fitPlane
-        #X has inverted sign !
+        if codeGen==0:
-        #Z is in um -> therefore the offset must be multiplied with 1000!
+          # X has inverted sign !
-        #Z motor has opposite sign !!!
+          # Z is in um -> therefore the offset must be multiplied with 1000 ! Z motor has opposite sign !
-        #sp.setup_coord_trf(cz=f'{-p[0]:+.18g}X{p[1]:+.18g}Y{p[2]*1000:+.18g}')  # reset to shape path system
+          cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}'
-        sp.setup_coord_trf(cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}')  # reset to shape path system
+        else:
+          trf=kwargs['trf']
+          cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}'
       except AttributeError:
+        cz='0'
+        if codeGen==0:
+          fx='X';fy='Y'
+        else:
+          trf=kwargs['trf']*1000#fix shear/rotation mm->um
+          fx=f'{trf[0,0]:+.18g}X{trf[1,0]:+.18g}Y{trf[2,0]:+.18g}'
+          fy=f'{trf[0,1]:+.18g}X{trf[1,1]:+.18g}Y{trf[2,1]:+.18g}'
         _log.warning('no plane fitting done. z does not move')
-        sp.setup_coord_trf()  # reset to shape path system
+      sp.setup_coord_trf(fx, fy, cz)  # reset to shape path system
-      # sp.meta['pt2pt_time']=10 #put between setup_sync and setup_motion to have more motion points than FEL syncs
-      dlg.setLabelText("Download motion program");dlg+=5
 
       try:
         sp.comm.gpascii._cb_func=lambda i, sz:self.cb_progress(i, sz, dlg)
       except AttributeError:
         pass
 
-      sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10)
       if dlg.wasCanceled():
         return
       dlg.setLabelText("Homing and get ready");dlg+=5